#ifndef PID_H
#define PID_H
#include "sys.h"
#include "delay.h"
extern float x,y,z;
extern u16 Oil_n;
void Moto_Ctrl(int PWM_Out1,int i);
int double_pitch_balance_Angle(float T);
int double_pitch_balance_Gyro(float PID_Angle_Out,float T);
int double_roll_balance_Angle(float Gyro);
int double_roll_balance_Gyro(float PID_Angle_Out,float T);
int double_yaw_balance_Angle(float T);
int double_yaw_balance_Gyro(float PID_Angle_Out,float T);
void double_Fly_Task(float T);

#endif
